Despite the fact that only 13 episodes were ever made, fans were quick to reminisce over their favourite episodes including one where a ballet shoe is used as a rowing boat and another where the mice make chocolate biscuits out of butterbeans and breadcrumbs.

In 1999, Bagpuss was voted the most popular BBC children's programme ever made.

Image:A Bagpuss organ mouse takes a row in a ballet slipper

In 2015, a new version of The Clangers, voiced by Monty Python actor Michael Palin, was produced by CBeebies, winning a BAFTA the same year.

Highlighting the "marvellous and diverse worlds" which Firmin "devised, created, painted, drew and built", his spokesman said it was thanks to "such magical and enduring appeal that they remain hugely popular to this day".

Former Play School presenter Baroness Floella Benjamin paid tribute to him on Twitter, writing: "I have such fond memories of working with #PeterFirmin all he wanted to do was to create magic to stimulate kids minds through his creative vision #Legacy #RIP."

Writer and broadcaster Gyles Brandreth wrote: "Peter Firmin was a creative genius who helped bring to life some of the most amusing & amazing childhood characters of my generation. RIP."

The official home of the Clangers on Twitter left a simple tribute which said "In loving memory of Peter Firmin" alongside an image of the artist in his studio with some of his creations.

Like most 70s kids, grew up watching Ivor the Engine, The Clangers and my favourite Bagpuss.

Fans were also quick to pay their respects. Roy wrote: "Those of us who are a 'certain' age will remember the work of this great man and his characters who filled our childhood with so many joyous memories. Thank you Peter."

Diana wrote: "Like most 70s kids, grew up watching Ivor the Engine, The Clangers and my favourite Bagpuss. Not just Emily who loved him. What a legacy from #peterfirmin."

Brian wrote: "Few people will ever bring so much happiness to so many...and I'm sure will continue to do so. Thank you Peter".